초록 ▼

Two-dimensional images of a three-dimensional body photographed by two video cameras are parallactically compensated prior performing the detection of the corresponding point necessary to recognize the body. Namely, the parallax between both cameras for the object distance measured by a range finder

Two-dimensional images of a three-dimensional body photographed by two video cameras are parallactically compensated prior performing the detection of the corresponding point necessary to recognize the body. Namely, the parallax between both cameras for the object distance measured by a range finder is calculated by a parallax calculator, and one image is electrically shifted by an image shifting circuit by only the number of pixels in accordance with the parallax value, thereby performing the parallax compensation of the images. In a calculation processing unit, the correlation values for the corresponding points between both images are calculated, and the distance images of the body are produced on the basis of these correlation values.

대표청구항 ▼

A stereoscopic vision apparatus for extracting, from the entire image of a three-dimensional scene, at least one partial image with respect to a predetermined reference distance, and recognizing, on the basis of two-dimensional image processing, whether or not an object actually exists apart from sa

A stereoscopic vision apparatus for extracting, from the entire image of a three-dimensional scene, at least one partial image with respect to a predetermined reference distance, and recognizing, on the basis of two-dimensional image processing, whether or not an object actually exists apart from said apparatus by the reference distance in a certain direction, thereby automatically performing a scene analysis, said apparatus comprising: (a) image input means for simultaneously sensing an incoming image light of a three-dimensional objective body from different points of view and for producing first image signals representing a plurality of two-dimensional body images for the same objective body; (b) first operating means for receiving distance value data designating the reference distance and for calculating the parallax for the reference distance of said plurality of body images to produce parallax value data; (c) parallax compensating circuit means, connected to said image input means and said first operating means, for compensating at least one of the first image signals so as to effect a geometric transformation of said body images in accordance with said parallax value data, and for generating second image signals representing a geometrically compensated body image corresponding to said reference distance; and (d) distance image generating means, connected to said parallax compensating circuit means, for generating a distance image of the three-dimensional objective body corresponding to said reference distance, each pixel of the distance image indicating information about the three-dimensional objective body portion which is apart from said image input means by substantially said reference distance, and said distance image generating means including, second operating means, connected to said parallax compensating circuit means, for calculating correlation values, from at least said second image signals, among mutually corresponding image portions of the body images, and for producing a sequence of said correlation values as third image signals; and third operating means, connected to said second operating means, for extracting, from said third image signals, signals which satisfy a predetermined condition about said correlation values, thereby obtaining said distance image of said three-dimensional objective body.